CN105763841A - Aircraft provided with detector with protector - Google Patents
Aircraft provided with detector with protector Download PDFInfo
- Publication number
- CN105763841A CN105763841A CN201510738605.5A CN201510738605A CN105763841A CN 105763841 A CN105763841 A CN 105763841A CN 201510738605 A CN201510738605 A CN 201510738605A CN 105763841 A CN105763841 A CN 105763841A
- Authority
- CN
- China
- Prior art keywords
- image information
- detection device
- flame
- aircraft
- infrared
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000001012 protector Effects 0.000 title abstract 2
- 238000001514 detection method Methods 0.000 claims abstract description 45
- 238000004891 communication Methods 0.000 claims abstract description 10
- 238000012545 processing Methods 0.000 claims description 19
- 238000000034 method Methods 0.000 claims description 16
- 239000002184 metal Substances 0.000 claims description 13
- 238000012986 modification Methods 0.000 claims description 11
- 230000004048 modification Effects 0.000 claims description 11
- 238000003825 pressing Methods 0.000 claims description 11
- 239000000779 smoke Substances 0.000 claims description 10
- 230000008569 process Effects 0.000 claims description 8
- 210000001217 buttock Anatomy 0.000 claims description 7
- 238000009825 accumulation Methods 0.000 claims description 6
- 230000008859 change Effects 0.000 claims description 6
- 238000004148 unit process Methods 0.000 claims description 6
- 230000003068 static effect Effects 0.000 claims description 4
- 230000003542 behavioural effect Effects 0.000 claims description 3
- 238000005183 dynamical system Methods 0.000 claims description 3
- 238000002372 labelling Methods 0.000 claims description 3
- 230000007935 neutral effect Effects 0.000 claims description 3
- 238000011410 subtraction method Methods 0.000 claims description 3
- 238000012549 training Methods 0.000 claims description 3
- 230000000007 visual effect Effects 0.000 abstract description 2
- 238000007789 sealing Methods 0.000 description 4
- 230000004308 accommodation Effects 0.000 description 3
- 239000004744 fabric Substances 0.000 description 3
- 238000012544 monitoring process Methods 0.000 description 3
- RZVHIXYEVGDQDX-UHFFFAOYSA-N 9,10-anthraquinone Chemical compound C1=CC=C2C(=O)C3=CC=CC=C3C(=O)C2=C1 RZVHIXYEVGDQDX-UHFFFAOYSA-N 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 239000006260 foam Substances 0.000 description 2
- 230000002411 adverse Effects 0.000 description 1
- 238000004458 analytical method Methods 0.000 description 1
- 238000006243 chemical reaction Methods 0.000 description 1
- 238000004140 cleaning Methods 0.000 description 1
- 230000007812 deficiency Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000004438 eyesight Effects 0.000 description 1
- 238000009499 grossing Methods 0.000 description 1
- 238000007726 management method Methods 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 230000002265 prevention Effects 0.000 description 1
Classifications
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04N—PICTORIAL COMMUNICATION, e.g. TELEVISION
- H04N7/00—Television systems
- H04N7/18—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast
- H04N7/181—Closed-circuit television [CCTV] systems, i.e. systems in which the video signal is not broadcast for receiving images from a plurality of remote sources
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/10—Actuation by presence of smoke or gases, e.g. automatic alarm devices for analysing flowing fluid materials by the use of optical means
-
- G—PHYSICS
- G08—SIGNALLING
- G08B—SIGNALLING OR CALLING SYSTEMS; ORDER TELEGRAPHS; ALARM SYSTEMS
- G08B17/00—Fire alarms; Alarms responsive to explosion
- G08B17/12—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions
- G08B17/125—Actuation by presence of radiation or particles, e.g. of infrared radiation or of ions by using a video camera to detect fire or smoke
Abstract
The invention discloses an aircraft provided with a detector with a protector. The aircraft comprises an unmanned aerial vehicle body, a fixation frame and a detection apparatus, wherein the fixation frame is arranged at the lower portion of the unmanned aerial vehicle body, and the detection apparatus is connected with the unmanned aerial vehicle body through the fixation frame. According to the invention, a binocular visual structure is arranged. The detection apparatus comprises a first pick-up head and a second pick-up head, the detection apparatus sends infrared image information and color image information to a control system through a communication module, through analyzing the infrared image information and the color image information, the problem of acquiring clear images in multiple scenes can be solved, and application demands of users can be satisfied. The invention provides a transparent window fixation structure at the same time. According to the transparent window fixation structure, a transparent window can be effectively fixed, the problem of affected product service life caused by easy damage to the transparent window due to poor fixation in the prior art is avoided, and the application demands of the users are met.
Description
Technical field
The invention belongs to fire fighting monitoring technical field, particularly relate to a kind of detector aircraft with preventer.
Background technology
UAV is called for short " unmanned plane ", and english abbreviation is " UAV ", is the not manned aircraft of the presetting apparatus manipulation utilizing radio robot with providing for oneself.Unmanned plane presses application, can be divided into military and civilian.Unmanned plane is of many uses at civil area, is mainly used in the industries such as police, city management, agricultural, geology, meteorology, electric power, rescue and relief work, video capture.
Along with socioeconomic fast development, detection device has been widely applied in the middle of fields such as including fire prevention, traffic, Intelligent Recognition.In some cases, detection device cannot carry out monitoring effectively and timely, is difficult to the place arrived particularly in adverse circumstances and personnel.Therefore, the unmanned plane with detection device is devised out by people.
But, existing panel detector structure arranges less reasonable, and the transparent window being arranged on its front end is easily damaged, and has had a strong impact on the service life of product, adds the use cost of user.In consideration of it, the invention provides a kind of detector aircraft with preventer.
Summary of the invention
It is an object of the invention to a kind of detector aircraft with preventer, it is an object of the invention to propose a kind of detection device being provided with transparent window, it is arranged on the transparent window of its front end and is easily damaged solving detector of the prior art, have a strong impact on the service life of product, the problem adding the use cost of user.
nullFor realizing the purpose of the present invention，The invention provides a kind of detector aircraft with preventer，Including unmanned plane body、Fixed mount、Detection device，Described fixed mount is arranged at the bottom of described unmanned plane body，Described detection device is connected with unmanned plane body by fixed mount，Described detection device includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，Described protecgulum offers form，It is coated with transparent window inside described form，The edge of described transparent window is pushed down by protecgulum pressing plate，And be fixed on protecgulum，Described protecgulum pressing plate is U-type groove structure，Its bottom face is provided with screwed hole，Described protecgulum pressing plate is connected with described upper cover by screw.
Wherein, described detection device includes the first photographic head and second camera, power module, communication module, first photographic head is infrared thermoviewer, described infrared thermoviewer is used for gathering Infrared Image Information, second camera is color video camera, described color video camera is used for gathering color image information, and described power module is for powering to described infrared thermoviewer and color video camera, and Infrared Image Information and color image information are sent to control system by communication module by described detection device.
Wherein, described unmanned plane body includes flying platform and dynamical system and automatic control module, and described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.
Wherein, described protecgulum pressing plate is two, fixes the two ends up and down of transparent window respectively.
Wherein, described control system includes remote control and telemeter communication equipment, flight control system, view data receiver module, alarm triggering module.
Wherein, described detection device includes image processing module, and described image data processing module includes the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；
Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；
(3) according to following formula, effective foreground area is screened:
That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；
(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；
(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；
(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
Wherein, described detection device includes image processing module, and described image data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；
Frame difference method ultimate principle can be found out by formula below:
| i (t)-i (t-1) | < T background
| i (t)-i (t-1) | >=T prospect
Wherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；
(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
nullThe present invention，Compared with prior art，Binocular vision structure is set，Including the first photographic head and the second camera of knowing clearly，First photographic head is arranged on infrared thermoviewer front end，Described infrared thermoviewer is used for gathering Infrared Image Information，Second camera is color video camera，Described color video camera is used for gathering color image information，Infrared Image Information and color image information are sent to control system by communication module by described detection device，The problem that the picture rich in detail under several scenes gathers can be solved by analysis Infrared Image Information and color image information，The user demand of user can be met，Simultaneously，The invention provides a kind of transparent window fixed structure，So that transparent window is effectively fixing，Avoid in prior art，Transparent window is fixed bad，Easily damaged，Thus affecting the problem generation in product service life，Meet the user demand of client.
Accompanying drawing explanation
Fig. 1 show the structural representation of the present invention；
Fig. 2 show the present invention and detects the structural representation of device；
Fig. 3 show infrared acquisition flame algorithm unit of the present invention and processes the method flow diagram of Infrared Image Information；
Fig. 4 show Smoke Detection algorithm unit of the present invention and processes the method flow diagram of color image information；
In figure: 1. unmanned plane body, 2. fixed mount, 3. detection device, 31. shells, 32. transparent windows, 33. first photographic head, 34. second cameras, 35. power modules, 36. communication modules.
Detailed description of the invention
Below in conjunction with the drawings and specific embodiments, the present invention is described in further detail.Should be appreciated that specific embodiment described herein is only in order to explain the present invention, is not intended to limit the present invention.
Should be noted that, " connection " described herein and be used for expressing the word of " connection ", such as " being connected ", " being connected " etc., both can include a certain parts and be directly connected to another parts, it is also possible to include a certain parts and be connected with another parts by miscellaneous part.
nullSuch as Fig. 1、Fig. 2、Fig. 3、Shown in Fig. 4，The invention provides a kind of detector aircraft with preventer，Including unmanned plane body 1、Fixed mount 2、Detection device 3，Described fixed mount 2 is arranged at the bottom of described unmanned plane body 1，Described detection device 3 is connected with unmanned plane body 1 by fixed mount 2，Described detection device 3 includes shell 31、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover is hinged with described shell 31，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell 31，Described shell 31 includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，Described protecgulum offers form，Transparent window 32 it is coated with inside described form，The edge of described transparent window 32 is pushed down by protecgulum pressing plate，And be fixed on protecgulum，Described protecgulum pressing plate is U-type groove structure，Its bottom face is provided with screwed hole，Described protecgulum pressing plate is connected with described upper cover by screw.Infrared thermoviewer therein can effectively solve colorful digital video camera deficiency of monitoring objective when even pole extreme climate environment at night.
In a preferred embodiment, described unmanned plane body includes flying platform and dynamical system and automatic control module, described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.Described The Cloud Terrace is stabilized platform, and stabilized platform can eliminate shake, improves picture quality, the visual angle at the same time it can also be conversion is taken photo by plane.
In a preferred embodiment, in order to make detection device place convenient, safety, following structure can be set: described unmanned plane body is provided with accommodation chamber, described The Cloud Terrace is arranged at accommodation intracavity, described fixed mount is lift fixed mount, specifically, described fixed mount includes fixing cylinder, snap close, the upper end of described fixing cylinder is connected with The Cloud Terrace, the piston rod of fixing cylinder is fixing with snap close to be connected, and described detection device casing upper surface is provided with connection ring, during use, snap close locking is used to connect ring, such that it is able to detection device and fixing cylinders are connect.When not using, it is possible to use detection device retraction is held intracavity by cylinder, it is thus possible to place detection device well, unmanned plane can also comparatively random lifting and parking；When using, it is possible to use detection device is stretched out outside accommodation chamber by cylinder.
In a preferred embodiment, so that shell mechanism is simple, fabrication and processing is convenient, shell can be divided into upper cover and lower shell structure, one end of described upper cover is hinged with described lower casing, the other end is connected with lower casing by locking member, described lower casing includes protecgulum, mid portion and back cover, described camera lens is arranged on sheet metal component, described buttock line is connected through described back cover with power supply source, the inner side of described upper cover is pasted with sealing EVA foam, described lower casing and the described upper cover place of being tightly connected are provided with sealing rubber strip, conductive fabric is uniformly pasted on described sealing EVA foam surface, and it is seamless between the two after pasting, described sealing rubber strip surface is pasted with conductive fabric completely, and conductive fabric surface smoothing is seamless between the two after pasting.Utilize said structure, it is possible to avoid the electronic unit in shell to be damaged by static electricity.
In a preferred embodiment, in order to ensure the cleaning of transparent window, shell outside transparent window is provided with air-flow shower nozzle, described air-flow shower nozzle is connected with air pump by pipeline, described air pump is connected with controller, described air-flow shower nozzle can be multiple, and shower nozzle gas outlet, towards transparent window, can arrange injecting time and the interval time of air-flow shower nozzle by controller.
In a preferred embodiment, wherein, described control system includes remote control and telemeter communication equipment, flight control system, view data receiver module, alarm triggering module.
As shown in Figure 3, wherein, described detection device includes image processing module, and described image data processing module includes the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；
Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCur
Wherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；
The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；
(3) according to following formula, effective foreground area is screened:
That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；
(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；
(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；
(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
As shown in Figure 4, wherein, described detection device includes image processing module, and described image data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:
(1) sequence of video images is obtained from video image acquisition device；
(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；
Frame difference method ultimate principle can be found out by formula below:
| i (t)-i (t-1) | < T background
| i (t)-i (t-1) | >=T prospect
Wherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；
(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；
(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
The above is only the preferred embodiment of the present invention; it should be pointed out that, for those skilled in the art, under the premise without departing from the principles of the invention; can also making some improvements and modifications, these improvements and modifications also should be regarded as protection scope of the present invention.
Claims (7)
- null1. a detector is with the aircraft of preventer，It is characterized in that，Including unmanned plane body、Fixed mount、Detection device，Described fixed mount is arranged at the bottom of described unmanned plane body，Described detection device is connected with unmanned plane body by fixed mount，Described detection device includes shell、Upper cover、Sheet metal component、Circuit board、Camera lens、Buttock line，Wherein，One end of described upper cover and described housing hinge，Described circuit board is fixedly mounted on sheet metal component，Described sheet metal component is fixedly mounted in described shell，Described shell includes protecgulum、Mid portion and bonnet，Described camera lens is arranged on described sheet metal component，Described buttock line is connected through described bonnet with described circuit board，Described protecgulum offers form，It is coated with transparent window inside described form，The edge of described transparent window is pushed down by protecgulum pressing plate，And be fixed on protecgulum，Described protecgulum pressing plate is U-type groove structure，Its bottom face is provided with screwed hole，Described protecgulum pressing plate is connected with described upper cover by screw.
- 2. detector according to claim 1 is with the aircraft of preventer, it is characterized in that, described detection device includes the first photographic head and second camera, power module, communication module, first photographic head is infrared thermoviewer, described infrared thermoviewer is used for gathering Infrared Image Information, second camera is color video camera, described color video camera is used for gathering color image information, described power module is for powering to described infrared thermoviewer and color video camera, Infrared Image Information and color image information are sent to control system by communication module by described detection device.
- 3. detector according to claim 1 is with the aircraft of preventer, it is characterized in that, described unmanned plane body includes flying platform and dynamical system and automatic control module, described automatic control module includes GPS navigation system, attitude control system, altimeter and The Cloud Terrace, and described detection device is connected with The Cloud Terrace by fixed mount.
- 4. detector according to claim 1 is with the aircraft of preventer, it is characterised in that wherein, and described protecgulum pressing plate is two, fixes the two ends up and down of transparent window respectively.
- 5. detector according to claim 1 is with the aircraft of preventer, it is characterised in that wherein, and described control system includes remote control and telemeter communication equipment, view data receiver module, alarm triggering module.
- 6. detector according to claim 1 is with the aircraft of preventer, it is characterized in that, described detection device includes image processing module, described image data processing module includes the infrared acquisition flame algorithm unit processing Infrared Image Information, and described infrared acquisition flame algorithm unit processes Infrared Image Information to carry out in accordance with the following steps:(1) sequence of video images is obtained from video image acquisition device；(2) background subtraction method is utilized to ask for foreground area: infrared thermoviewer collects image and carries out the renewal learning of gray value according to each pixel；Model gray value renewal learning process is divided into: avgYi+1=avgYi*(1-α)+α*avgYCurWherein, avgYi+1The respectively model average training result to a new two field picture, avgYiRepresent the Gauss model average that modeling point is current, avgYCurFor the model gray value of a new two field picture, α is the model modification factor；The gray value renewal process of pixel is divided into background dot and foreground point, cause detecting not out doubtful flame prospect into background to prevent doubtful flame prospect from learning rapidly, adopting different renewal rates for background model, the usual value of the model modification factor of background dot is 10%；The usual value of the model modification factor of foreground point is 1%；(3) according to following formula, effective foreground area is screened:That is, if this zone leveling gray value is more than setting threshold value, it is labeled as doubtful flame region；Wherein, N is this area pixel point number, f (xi) for the gray value of i-th point pixel, T is for setting threshold value；(4) doubtful flame region feature is extracted: include gray feature, area features, Jump, area change feature；(5) feature (4th) step asked for, as the input of BP neutral net, it is determined that whether this region is flame；(6) following the tracks of the doubtful flame region of statistics and be judged as the number of times of flame, when reaching threshold value Tn, output flame is reported to the police.
- 7. detector according to claim 5 is with the aircraft of preventer, it is characterized in that, described detection device includes image processing module, described image data processing module includes the Smoke Detection algorithm unit processing color image information, and described Smoke Detection algorithm unit processes color image information to carry out in accordance with the following steps:(1) sequence of video images is obtained from video image acquisition device；(2) adopting accumulation frame difference method to ask for doubtful smoke region according to vedio data, accumulation frame number can according to algorithm requirements self-defining；Frame difference method ultimate principle can be found out by formula below:| i (t)-i (t-1) | < T background| i (t)-i (t-1) | >=T prospectWherein, i (t), the pixel value of i (t-1) respectively t, t-1 moment corresponding pixel points, T is threshold value；(3) specifically include according to smog static nature: minimum area, color characteristic, gray feature and smog behavioral characteristics specifically include waving property spy, area change feature removes deceptive information, it may be judged whether meet all features of smog；(4) if meeting all features of smog, suspicious region will early warning, adopt labelling Alarm counting, as early warning number of times Alarm > T export smog alarm, wherein T is threshold value of warning.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510738605.5A CN105763841A (en) | 2015-11-03 | 2015-11-03 | Aircraft provided with detector with protector |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201510738605.5A CN105763841A (en) | 2015-11-03 | 2015-11-03 | Aircraft provided with detector with protector |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN105763841A true CN105763841A (en) | 2016-07-13 |
Family
ID=56342010
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201510738605.5A Pending CN105763841A (en) | 2015-11-03 | 2015-11-03 | Aircraft provided with detector with protector |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN105763841A (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106657898A (en) * | 2015-10-29 | 2017-05-10 | 霍尼韦尔国际公司 | Systems and methods for verified threat detection |
| CN111147711A (en) * | 2019-12-23 | 2020-05-12 | 智源亿航(北京)智能技术有限公司 | Unmanned aerial vehicle intelligence vision sensor |
Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN202043404U (en) * | 2011-04-29 | 2011-11-16 | 深圳市豪恩安全科技有限公司 | Infrared detector and security prevention system |
| US20110311099A1 (en) * | 2010-06-22 | 2011-12-22 | Parrot | Method of evaluating the horizontal speed of a drone, in particular a drone capable of performing hovering flight under autopilot |
| CN202170018U (en) * | 2011-07-15 | 2012-03-21 | 东华大学 | Small-sized perpendicular taking off and landing unmanned plane for monitoring and fire fighting |
| CN202882681U (en) * | 2012-11-06 | 2013-04-17 | 黄山派尼尔科技发展有限公司 | Clamping seat for fixing glass |
| CN103685895A (en) * | 2013-12-30 | 2014-03-26 | 博康智能网络科技股份有限公司 | Surveillance camera housing |
| CN104111658A (en) * | 2014-07-17 | 2014-10-22 | 金陵科技学院 | Unmanned aerial vehicle capable of performing monitoring shooting and controlling through smart glasses |
| CN104394361A (en) * | 2014-11-20 | 2015-03-04 | 天津艾思科尔科技有限公司 | Pedestrian crossing intelligent monitoring device and detection method |
| CN104598895A (en) * | 2015-02-10 | 2015-05-06 | 天津艾思科尔科技有限公司 | Method and device for flame detection based on video image analysis |
| CN205131673U (en) * | 2015-11-03 | 2016-04-06 | 天津艾思科尔科技有限公司 | Unmanned aerial vehicle with window protection architecture detector |
-
2015
- 2015-11-03 CN CN201510738605.5A patent/CN105763841A/en active Pending
Patent Citations (9)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20110311099A1 (en) * | 2010-06-22 | 2011-12-22 | Parrot | Method of evaluating the horizontal speed of a drone, in particular a drone capable of performing hovering flight under autopilot |
| CN202043404U (en) * | 2011-04-29 | 2011-11-16 | 深圳市豪恩安全科技有限公司 | Infrared detector and security prevention system |
| CN202170018U (en) * | 2011-07-15 | 2012-03-21 | 东华大学 | Small-sized perpendicular taking off and landing unmanned plane for monitoring and fire fighting |
| CN202882681U (en) * | 2012-11-06 | 2013-04-17 | 黄山派尼尔科技发展有限公司 | Clamping seat for fixing glass |
| CN103685895A (en) * | 2013-12-30 | 2014-03-26 | 博康智能网络科技股份有限公司 | Surveillance camera housing |
| CN104111658A (en) * | 2014-07-17 | 2014-10-22 | 金陵科技学院 | Unmanned aerial vehicle capable of performing monitoring shooting and controlling through smart glasses |
| CN104394361A (en) * | 2014-11-20 | 2015-03-04 | 天津艾思科尔科技有限公司 | Pedestrian crossing intelligent monitoring device and detection method |
| CN104598895A (en) * | 2015-02-10 | 2015-05-06 | 天津艾思科尔科技有限公司 | Method and device for flame detection based on video image analysis |
| CN205131673U (en) * | 2015-11-03 | 2016-04-06 | 天津艾思科尔科技有限公司 | Unmanned aerial vehicle with window protection architecture detector |
Non-Patent Citations (1)
| Title |
|---|
| 史玉坤等: "利用多特征判别的烟雾检测方法研究", 《信号处理》 * |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106657898A (en) * | 2015-10-29 | 2017-05-10 | 霍尼韦尔国际公司 | Systems and methods for verified threat detection |
| CN111147711A (en) * | 2019-12-23 | 2020-05-12 | 智源亿航(北京)智能技术有限公司 | Unmanned aerial vehicle intelligence vision sensor |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN105741466A (en) | Aircraft for environmental protection monitoring | |
| CN105741477A (en) | Aircraft with intelligent fire control voice assistant | |
| CN205131695U (en) | Unmanned aerial vehicle with hot image device | |
| CN105761275A (en) | Fire-fighting early warning aircraft with binocular visual structure | |
| CN106372576A (en) | Deep learning-based intelligent indoor intrusion detection method and system | |
| CN107016690A (en) | The unmanned plane intrusion detection of view-based access control model and identifying system and method | |
| CN113179673B (en) | Image monitoring device applying multi-camera moving path tracking technology | |
| CN205131669U (en) | Unmanned aerial vehicle with gaseous monitoring devices | |
| CN105763842A (en) | Aircraft with fire-fighting detection function | |
| Fawzi et al. | Embedded real-time video surveillance system based on multi-sensor and visual tracking | |
| CN206115282U (en) | Fusion system of ground satellite station | |
| CN111369760A (en) | Night pedestrian safety early warning device and method based on unmanned aerial vehicle | |
| CN105759826A (en) | Aircraft with intelligent fire-fighting detection apparatus | |
| CN105763841A (en) | Aircraft provided with detector with protector | |
| CN205131672U (en) | Unmanned aerial vehicle with binocular vision structure | |
| CN205384515U (en) | Forest fires monitoring and intelligent recognition system based on unmanned aerial vehicle platform | |
| CN205131668U (en) | Unmanned aerial vehicle with cooling fin structure radiator | |
| CN205139709U (en) | Unmanned aerial vehicle with fire control early warning real -time processing function | |
| CN205131670U (en) | Unmanned aerial vehicle with voice broadcast device | |
| CN105752352B (en) | Detector carries the unmanned plane of anti-static device | |
| CN105763840A (en) | Fireproof disaster mitigation aircraft with thermal imaging detection function | |
| CN207027526U (en) | A kind of mobile security robot with video analysis function based on binocular vision | |
| CN205131694U (en) | Unmanned aerial vehicle with prevent static structure | |
| CN105752333A (en) | Aircraft for emergency evacuation commanding | |
| CN205131673U (en) | Unmanned aerial vehicle with window protection architecture detector |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| RJ01 | Rejection of invention patent application after publication |
Application publication date: 20160713 |
|
| RJ01 | Rejection of invention patent application after publication |